The Estimation of Angular Misalignments for Ultra Short Baseline Navigation Systems. Part I: Numerical Simulations

Abstract

Ultra Short Baseline (USBL) navigation systems are often faced with positioning errors arising from misalignments between sensors. This paper proposes a line survey method for USBL angular alignment calibration. In the scheme of USBL line survey, mathematical representations of positioning error arising from heading, pitch and roll misalignments are derived, respectively. The effect of each misalignment angle and how the differences can be used to calibrate each misalignment angle in turn are presented. An iterative algorithm that takes advantage of the geometry of position errors resulting from angular misalignments is developed for USBL calibration. Numerical simulations are provided to demonstrate the effectiveness of the USBL line survey approach. In addition, the effect of measurement error on the estimation of roll alignment error is evaluated and discussed. K E Y

The Estimation of Angular Misalignments for Ultra Short Baseline Navigation Systems. Part II: Experimental Results

“…Having corrected for heading deviation and cross-track error, the transponder trajectories are used to estimate the alignment errors. As indicated in Part I (Chen, 2013), the iterative process to estimate the …”

“…In Part I (Chen, 2013), we have shown that γ (x) is more robust to the noise in USBL measurements than γ (z) in the determination of roll alignment error when the condition |d| < |P Tz | is true. In this subsection, we aimed to verify this finding with the use of data from observations of USBL positioning.…”

“…An iterative algorithm that allows estimating angular misalignments between attitude sensors and USBL transceiver was presented in Part I (Chen, 2013). This algorithm is based on the positioning errors caused by heading, pitch and roll misalignments when running a line survey over the area above a seabed transponder.…”

“…In this paper, the proposed algorithm is further tested with USBL observations from a sea trial. In addition, a sensitivity analysis of roll alignment error estimation was investigated in Part I (Chen, 2013), and its validity will be tested in this paper by the use of the sea trial data.…”

An Ultra-Short Baseline Positioning Model Based on Rotating Array & Reusing Elements and Its Error Analysis

“…The calibration is indispensable before used. Professor Hsin-Hung Chen from the National Sun Yat-Sen University of Taiwan proposed a multi-circle sailing and straight-line sailing method, which was verified experimentally that to be feasible [16,17]. A USBL installation error angle calibration method based on double transponders was proposed in 2018 [2], but the calibration process was more complicated.…”